CN113219976B

CN113219976B - Fault rescue method, equipment, robot and system

Info

Publication number: CN113219976B
Application number: CN202110507797.4A
Authority: CN
Inventors: 何家伟; 周红霞; 李汇祥
Original assignee: Hai Robotics Co Ltd; Shenzhen Kubo Software Co Ltd
Current assignee: Hai Robotics Co Ltd; Shenzhen Kubo Software Co Ltd
Priority date: 2021-05-10
Filing date: 2021-05-10
Publication date: 2024-06-18
Anticipated expiration: 2041-05-10
Also published as: TW202243979A; CN113219976A; WO2022237434A1

Abstract

The application provides a fault rescue method, equipment, a robot and a system. The method comprises the following steps: when the robots work under the working condition of the queue and the robots in the queue have faults, the scheduling equipment can acquire the fault information of the fault robot and the identification of the carrying robot adjacent to the fault robot, so that a rescue instruction and a queue change instruction are generated according to the fault information of the fault robot and the identification of the carrying robot adjacent to the fault robot, and then the rescue instruction and the queue change instruction are sent to the carrying robot, so that the carrying robot can rescue the fault robot according to the rescue instruction and reorganize the queue according to the queue change instruction. The method can ensure that the queue continues to work and can also effectively improve the rescue efficiency of the fault robot.

Description

Fault rescue method, equipment, robot and system

Technical Field

The application relates to the field of intelligent storage, in particular to a fault rescue method, equipment, a robot and a system.

Background

Along with the continuous development of social trade and the continuous progress of scientific technology, the storage technology is also continuously promoted, and how to manage the transfer robot more efficiently becomes a hot spot problem.

In the current intelligent warehouse system, when goods are required to be carried, a carrying robot is generally used for carrying the goods. If the transfer robot fails during the working process, a fault alarm is usually only performed to prompt related personnel to move and overhaul the failed transfer robot.

However, if the above rescue mode of reminding and then manually moving is adopted for the carrying robot with faults, the rescue efficiency is low.

Disclosure of Invention

The application provides a fault rescue method, equipment, a robot and a system, which are used for solving the problem that the rescue efficiency is low when a manual moving rescue mode is adopted for a faulty carrying robot.

In a first aspect, the present application provides a fault rescue method, applied to a scheduling device, where the method includes:

acquiring fault information of a fault robot and identifiers of transfer robots adjacent to the fault robot, wherein the fault information comprises the identifiers of the fault robot, positions in a queue, current working conditions and fault positions; the queue comprises a plurality of transfer robots and fault robots;

If the current working condition is a queuing working condition, generating a rescue instruction and a queuing change instruction according to the fault information and the identification of the transfer robot;

and sending a rescue command and a queue change command to the carrying robot so that the carrying robot can rescue the fault robot according to the rescue command and reorganize the queue according to the queue change command.

Optionally, generating a rescue instruction according to the fault information and the identification of the transfer robot specifically includes:

And generating a reset instruction according to the fault information and the identification of the transfer robot, so that the transfer robot generates a control instruction for triggering a reset button of the fault robot according to the reset instruction.

Optionally, after sending the rescue instruction to the handling robot, the method further comprises:

And when the rescue result message of the fault robot indicates that rescue fails and the fault position is an air vertical track or a ground roadway, sending a vehicle moving instruction to at least one carrying robot near the fault robot.

Optionally, sending a vehicle moving instruction to at least one transfer robot located near the faulty robot specifically includes:

If the fault position is an overhead vertical track and the fault robot is positioned at the head of the queue, sending a vehicle moving instruction to the first carrying robot and the second carrying robot;

The first transfer robot is positioned behind the fault robot and is close to the fault robot, and the second transfer robot is positioned behind the fault robot and is separated from the fault robot by one transfer robot;

Or alternatively

If the fault position is an overhead vertical track and the fault robot is positioned at the tail part of the queue, sending a vehicle moving instruction to the third carrying robot and the fourth carrying robot;

The third transfer robot is positioned in front of the fault robot and is close to the fault robot, and the fourth transfer robot is positioned in front of the fault robot and is spaced apart from the fault robot by one transfer robot;

Or alternatively

And if the fault position is an overhead vertical track and the fault robots are positioned at the non-head part and the non-tail part of the queue, sending a vehicle moving instruction to the first transfer robot and the third transfer robot.

If the fault position is a ground tunnel and the fault robot is in a load state and is positioned at the head of the queue, a vehicle moving instruction is sent to the first transfer robot and the second transfer robot;

if the fault position is a ground tunnel and the fault robot is in a load state and is positioned at the tail of the queue, a vehicle moving instruction is sent to the third transfer robot and the fourth transfer robot;

if the fault position is a ground tunnel and the fault robot is in a load state and is positioned at the non-head part and the non-tail part of the queue, a vehicle moving instruction is sent to the first carrying robot and the third carrying robot;

if the fault position is the ground tunnel and the fault robot is in an empty state, a vehicle moving instruction is sent to the first transfer robot or the third transfer robot.

Optionally, the method further comprises:

when the rescue result message of the fault robot indicates that rescue fails and the fault position is an aerial parallel track, a car moving instruction is sent to the rescue robot.

Optionally, the method further comprises:

The rescue result message of the fault robot indicates that rescue fails, and when the fault position is a ground trunk, the walking path of the queue and the position of the pause area are obtained;

determining whether the queue passes through the pause area according to the walking path and the position of the pause area;

if yes, sending a vehicle moving instruction to at least one carrying robot positioned near the fault robot; if not, a car moving instruction is sent to the rescue robot.

if the fault position is a ground trunk and the fault robot is in a load state and is positioned at the head of the queue, a vehicle moving instruction is sent to the first carrying robot and the second carrying robot;

If the fault position is a ground trunk and the fault robot is in a load state and is positioned at the tail of the queue, a vehicle moving instruction is sent to the third transfer robot and the fourth transfer robot;

If the fault position is a ground trunk and the fault robot is in a load state and is positioned at the non-head part and the non-tail part of the queue, a vehicle moving instruction is sent to the first carrying robot and the third carrying robot;

If the fault position is the ground trunk and the fault robot is in an empty state, a vehicle moving instruction is sent to the first transfer robot or the third transfer robot.

Optionally, sending a queue change instruction to the transfer robot specifically includes:

if the fault robot is positioned at the head of the queue, sending a competition head command to the first carrying robot;

if the fault robot is positioned at the tail part of the queue, sending a quantity changing instruction to a fifth carrying robot positioned at the head part of the queue;

If the fault position is an aerial horizontal track, an aerial vertical track or a ground trunk, the fault robot is positioned at the non-head part of the queue and at the non-tail part of the queue, a switching following object instruction is sent to the first carrying robot, and a quantity changing instruction is sent to the fifth carrying robot;

If the fault position is a ground tunnel, the fault robot is positioned at the non-head part of the queue, the sixth transfer robot positioned at the tail part of the queue sends a competition head command, the transfer robot positioned between the sixth transfer robot and the first transfer robot sends a switching following object command, and the fifth transfer robot sends a quantity changing command.

In a second aspect, the present application provides a fault rescue method, applied to a transfer robot, the method including:

Receiving a rescue instruction and a queue change instruction sent by scheduling equipment; the rescue instruction is generated according to a first identifier of the fault robot and a second identifier of a carrying robot adjacent to the fault robot when the current working condition is a queuing working condition, and the queue change instruction is generated according to a fault position, a position in a queue and the second identifier when the current working condition is a queuing working condition, wherein the fault information of the fault robot comprises the first identifier, the position in the queue, the current working condition and the fault position;

Rescue the fault robot according to the rescue instructions, and reorganizing the queue according to the queue change instructions; wherein the queue comprises a malfunctioning robot and at least one handling robot.

Optionally, the rescue fault robot according to the rescue instruction specifically includes:

generating a control instruction for triggering a reset button on the fault robot according to the reset instruction;

the reset instruction is generated according to the fault information and the identification of the transfer robot.

Optionally, the method further comprises:

Receiving a car moving instruction sent by dispatching equipment, and moving the fault robot according to the car moving instruction;

The vehicle moving instruction is generated when rescue result information of the fault robot indicates rescue failure, the fault position is an air vertical track or a ground tunnel, and the transfer robot is located near the fault robot and belongs to a queue.

Optionally, if the fault location is an overhead vertical track and the fault robot is located at the head of the queue, the transfer robot includes a first transfer robot located behind and in close proximity to the fault robot and a second transfer robot located behind and spaced apart from the fault robot by one transfer robot;

if the fault position is an overhead vertical track and the fault robot is positioned at the tail of the queue, the transfer robot comprises a third transfer robot positioned in front of the fault robot and close to the fault robot and a fourth transfer robot positioned in front of the fault robot and separated from the fault robot by one transfer robot;

if the fault position is an overhead vertical track, and the fault robot is positioned at the non-head part of the queue and is positioned at the non-tail part of the queue, the transfer robot comprises a first transfer robot and a third transfer robot.

Optionally, if the fault location is a ground roadway, the fault robot is in a load state, and the fault robot is located at the head of the queue, and the transfer robot comprises a first transfer robot and a second transfer robot;

If the fault position is a ground tunnel, the fault robot is in a load state, the fault robot is positioned at the tail part of the queue, and the carrying robot comprises a third carrying robot and a fourth carrying robot;

If the fault position is a ground tunnel, the fault robot is in a load state, and the fault robot is positioned at the non-head part of the queue and at the non-tail part of the queue, and the transfer robot comprises a first transfer robot and a third transfer robot;

If the fault position is a ground tunnel, the fault robot is in an empty state, and the transfer robot comprises a first transfer robot or a third transfer robot.

Optionally, the method further comprises:

Receiving a car moving instruction sent by dispatching equipment, and controlling the transfer robot to move the fault robot according to the car moving instruction;

The car moving instruction is generated when a rescue result message indicating that the rescue result fails is received, the fault position is a ground trunk, and the queue is determined to pass through a pause area.

Optionally, if the fault location is a ground trunk, the fault robot is in a load state, and the fault robot is located at the head of the queue, and the transfer robot comprises a first transfer robot and a second transfer robot;

If the fault position is a ground trunk, the fault robot is in a load state, and the fault robot is positioned at the tail part of the queue, and the carrying robot comprises a third carrying robot and a fourth carrying robot;

If the fault position is a ground trunk, the fault robot is in a load state, and the fault robot is positioned at the non-head part of the queue and at the non-tail part of the queue, and the transfer robot comprises a first transfer robot and a third transfer robot;

if the fault position is a ground trunk, the fault robot is in an empty state, and the transfer robot comprises a first transfer robot or a third transfer robot.

Optionally, the receiving and scheduling device sends a queue change instruction, which specifically includes:

If the fault robot is positioned at the head of the queue, the first transfer robot receives a competition headstock instruction sent by the dispatching equipment;

if the fault robot is positioned at the tail part of the queue, the fifth transfer robot positioned at the head part of the queue receives the quantity change instruction sent by the dispatching equipment;

If the fault position is an air horizontal track, an air vertical track or a ground main road, and the fault robot is positioned at the non-head part of the queue and the non-tail part of the queue, the second transfer robot receives a switching following object instruction sent by the dispatching equipment, and the fifth transfer robot receives a quantity changing instruction sent by the dispatching equipment;

if the fault position is a ground tunnel and the fault robot is positioned at the non-head part and the non-tail part of the queue, the sixth transfer robot positioned at the tail part of the queue receives the competing head command sent by the dispatching equipment, the transfer robot positioned between the first transfer robot and the sixth transfer robot receives the switching following object command sent by the dispatching equipment, and the fifth transfer robot receives the quantity changing command sent by the dispatching equipment.

In a third aspect, the present application also provides a scheduling apparatus, including:

The system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring fault information of a fault robot and identifiers of transfer robots close to the fault robot, and the fault information comprises the identifiers of the fault robot, positions in a queue, current working conditions and fault positions; the queue comprises a plurality of transfer robots and fault robots;

the processing module is used for generating rescue instructions and queue changing instructions according to the fault information and the identification of the transfer robot if the current working condition is a queue working condition;

The transmission module is used for transmitting the rescue command and the queue change command to the carrying robot so that the carrying robot can rescue the fault robot according to the rescue command and reorganize the queue according to the queue change command.

In a fourth aspect, the present application also provides a transfer robot, including:

The receiving module is used for receiving the rescue instruction and the queue changing instruction sent by the scheduling equipment; the rescue instruction is generated according to a first identifier of the fault robot and a second identifier of a carrying robot adjacent to the fault robot when the current working condition is a queuing working condition, and the queue change instruction is generated according to a fault position, a position in a queue and the second identifier when the current working condition is a queuing working condition, wherein the fault information of the fault robot comprises the first identifier, the position in the queue, the current working condition and the fault position;

the processing module is used for rescuing the fault robot according to the rescue instruction and reorganizing the queue according to the queue change instruction; wherein the queue comprises a malfunctioning robot and at least one handling robot.

In a fifth aspect, the present application further provides a scheduling apparatus, including: a memory, a processor;

A memory; a memory for storing processor-executable instructions;

wherein the processor is configured to perform the method of any of the first aspects.

In a sixth aspect, the present application also provides a transfer robot, including: a memory, a processor;

A memory; a memory for storing processor-executable instructions;

In a seventh aspect, the present application also provides a robot system comprising a dispatching device as in the fifth aspect, a handling robot as in the sixth aspect, and a rescue robot.

According to the fault rescue method, the device, the robot and the system, when the robot works under the working condition of the queue and the robot in the queue breaks down, the scheduling device can acquire the fault information of the fault robot and the second identifier of the carrying robot adjacent to the fault robot, so that a rescue instruction is generated according to the first identifier and the second identifier, a queue change instruction is generated according to the fault position, the position in the queue and the second identifier, and then the rescue instruction and the queue change instruction are sent to the carrying robot, so that the carrying robot can rescue the fault robot according to the rescue instruction and reorganize the queue according to the queue change instruction, and the rescue efficiency of the fault robot can be effectively improved while the continued work of the queue is ensured.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

FIG. 1 is a schematic diagram of an application scenario of a fault rescue method provided by the application;

FIG. 2 is another view of the application scenario shown in FIG. 1;

FIG. 3 is a schematic diagram of a queue of the application scenario shown in FIG. 1;

FIG. 4 is a schematic flow chart of a fault rescue method according to an embodiment of the present application;

FIG. 5 is a schematic diagram illustrating a first working condition of a fault rescue method according to an embodiment of the present application;

FIG. 6 is a first queue schematic;

FIG. 7 is a second queue schematic;

FIG. 8 is a third queue schematic;

FIG. 9 is a schematic diagram illustrating a second working condition of the fault rescue method according to an embodiment of the present application;

FIG. 10 is a fourth queue schematic;

FIG. 11 is a fifth queue diagram;

FIG. 12 is a sixth queue schematic;

FIG. 13 is a schematic diagram illustrating a third working condition of the fault rescue method according to an embodiment of the present application;

FIG. 14 is a fourth working condition diagram of the fault rescue method according to an embodiment of the present application;

FIG. 15 is a seventh queue schematic;

FIG. 16 is an eighth queue schematic;

FIG. 17 is a ninth queue schematic;

FIG. 18 is a tenth queue schematic;

FIG. 19 is an eleventh queue schematic;

fig. 20 is a schematic structural diagram of a scheduling apparatus according to an embodiment of the present application;

Fig. 21 is a schematic structural view of a transfer robot according to an embodiment of the present application;

fig. 22 is a schematic structural diagram of a scheduling apparatus according to an embodiment of the present application;

fig. 23 is a schematic structural diagram of a transfer robot according to an embodiment of the present application.

Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.

Fig. 1 is a schematic diagram of an application scenario of a fault rescue method provided by the application. As shown in fig. 1, the fault rescue method provided by the application is applied to a robot system, wherein the robot system is used for carrying goods in an intelligent storage scene. The robot system comprises a scheduling device 400 and a robot sequence 300, wherein the robot sequence 300 comprises a plurality of transfer robots, each of which can be used for transferring goods.

In this smart warehouse scenario, a plurality of shelves 100 may be included, where vertical thoroughfares 210 (disposed along a lateral direction of the shelves) and lateral thoroughfares 220 (disposed along a longitudinal arrangement direction of the shelves) are disposed at edges of an area where the shelves 100 are disposed, and a ground roadway 230 is disposed between the two shelves 100. It should be noted that, the vertical trunk 210 and the horizontal trunk 220 are generally disposed outside the rack 100, and may be two-way channels, that is, at least two transfer robots may pass side by side on the vertical trunk 210 or the horizontal trunk 220. The ground tunnel 230 is disposed between two shelves 100, and in order to dispose more shelves 100 in a limited storage space, the width of the ground tunnel 230 needs to be narrower, which is a unidirectional channel, that is, the ground tunnel 230 can only pass through the transfer robot one by one in one direction. In the process of carrying the goods by the carrying robot, a plurality of carrying robots may form a queue according to the mode of the fleet, and enter each passage, especially the ground tunnel 230, so as to go to the corresponding storage location for picking and placing the goods. Then, after the goods are taken and put, the goods can leave together in a queue mode.

Fig. 2 is another view of the application scenario shown in fig. 1. As shown in fig. 2, in order to further improve the mobility of the transfer robot, the overhead rail including the overhead vertical rail 260 and the overhead horizontal rail 250 is provided on the pallet. The overhead vertical rail 260 refers to rails provided on both sides of the pallet 100 in a direction along the pallet height direction. The transfer robot crawls on an overhead vertical track to pick and place the goods from the storage positions at different heights. The top of the pallet 100 may be further provided with staggered horizontal air rails 250, which may be laid along the length direction of the pallet or along the width direction of the pallet, so as to form staggered rails. The transfer robot may move over the pallet 100 via the overhead horizontal rail 250 to access different ground lanes 230 and to pick and place items at different locations within each lane.

In order to rescue when the transfer robots in the queue are out of order when the transfer robots are operated in the queue, it is necessary to establish communication connection between each transfer robot and the scheduling apparatus 400, and to perform inter-vehicle communication between each transfer robot by short-distance communication. The scheduling device 400 may obtain the fault information of each transfer robot, for example, may include identification information, position information in the queue, current working condition information, and fault position information, so that the scheduling device 400 may generate a rescue instruction according to the identification information of the transfer robot in the queue (including the identification information of the fault robot), and generate a queue change instruction according to the fault position of the fault robot, the position in the queue, and the identification information. And then, rescue instructions and queue changing instructions are issued to each transfer robot so as to rescue the faulty robot, and the remaining transfer robots are rearranged into queues so as to ensure the continuous and efficient work of the transfer robots.

Fig. 3 is a schematic diagram of a queue in the application scenario shown in fig. 1. As shown in fig. 3, when the transfer robot operates in a queue, when a failure occurs to the B robot 320 in the queue, the B robot 320 can be rescued by two robots (the a robot 310 and the C robot 330) immediately adjacent to the B robot 320, thereby effectively improving the rescue efficiency to the failed robot.

Fig. 4 is a flow chart of a fault rescue method according to an embodiment of the present application. As shown in fig. 4, the fault rescue method provided in this embodiment includes:

S101, acquiring fault information of a fault robot and identification of a carrying robot adjacent to the fault robot.

In this step, when the robot fails, the scheduling device may acquire failure information of the failed robot, where the failure information may include an identifier of the failed robot, a position in the queue, a current working condition, and a failure position. The identification may be an identity of the fault robot, the positions in the queue may be the order of the fault robot in the queue, the current working condition may be the current working mode of the fault robot, and the fault position may be the specific position of the fault robot in the storage scene.

When the dispatching equipment acquires the fault information of the fault robot, the dispatching equipment can also acquire the identification of the carrying robot close to the fault robot, wherein the identification of the carrying robot close to any side of the fault robot can be acquired, and the identification of the carrying robot close to the fault robot on both sides of the fault robot can also be acquired.

S102, if the current working condition is a queuing working condition, a rescue instruction is generated according to the fault information and the identification of the transfer robot.

Specifically, when the scheduling device determines that the current working condition is a queuing working condition according to the acquired current working condition of the fault robot, a rescue instruction is generated according to the fault information and the identification of the transfer robot. It should be appreciated that the identification of the failed robot included in the rescue order is used to indicate which robot is specifically failed, and the identification of the transfer robot included in the rescue order is used to indicate which one or more transfer robots are specifically required to rescue the failed robot. The fault location is then used to indicate where to rescue the faulty robot.

Alternatively, the dispatching device may generate a reset instruction according to the first identifier and the second identifier, and the handling robot receives the reset instruction sent by the dispatching device and generates a control button for triggering a reset button on the fault robot, for example, the handling robot may be triggered to move to the fault position through a mechanical arm on the handling robot, so as to trigger the reset button on the fault robot.

And S103, if the current working condition is a queuing working condition, generating a queue changing instruction according to the fault information and the identification of the transfer robot.

In order to ensure that the remaining transfer robots can work in the form of a queue after the transfer robots in the queue fail, the remaining transfer robots need to be rearranged.

S104, sending rescue instructions and queue changing instructions to the transfer robot.

The scheduling device may send the rescue instruction and the queue change instruction to the transfer robot after generating the rescue instruction according to the first identifier and the second identifier and generating the queue change instruction according to the fault location, the location in the queue, and the second identifier.

S105, rescue the fault robot according to the rescue instruction, and reorganize the queue according to the queue change instruction.

Specifically, after the handling robot receives the rescue instruction and the queue change instruction sent by the scheduling device, the fault robot can be rescued according to the rescue instruction, and the queue can be reorganized according to the queue change instruction.

In this embodiment, when the robot works under the working condition of the queue and the robot in the queue breaks down, the scheduling device may acquire the fault information of the faulty robot and the second identifier of the transfer robot adjacent to the faulty robot, so as to generate a rescue instruction according to the first identifier and the second identifier, generate a queue change instruction according to the fault position, the position in the queue and the second identifier, and then send the rescue instruction and the queue change instruction to the transfer robot, so that the transfer robot rescue the faulty robot according to the rescue instruction, and reorganize the queue according to the queue change instruction, thereby ensuring that the queue continues to work and simultaneously effectively improving the rescue efficiency of the faulty robot.

On the basis of the embodiment, in order to monitor and better schedule the rescue result of the fault robot, the scheduling device may further continuously obtain a rescue result message after sending a rescue instruction to the transfer robot, and send a car moving instruction to at least one transfer robot located near the fault robot when the rescue result message indicates that rescue fails and the fault location is an overhead vertical track or a ground roadway. After the transfer robot receives the car moving instruction sent by the dispatching equipment, the fault robot is moved according to the car moving instruction. The vehicle moving instruction is generated when rescue result information of the fault robot indicates rescue failure, the fault position is an air vertical track or a ground tunnel, and the transfer robot is located near the fault robot and belongs to a queue.

With continued reference to fig. 1-2, if the transfer robot fails at different positions in the warehouse scene, different rescue strategies may be employed.

It should be noted that, when the transfer robot fails on the vertical rail, there is a risk of falling, and therefore, it is necessary to perform the transfer and to move the vehicle, and in order to ensure the safety during the transfer, it is necessary to use two transfer robots to move the failure robot.

Fig. 5 is a schematic diagram of a first working condition of a fault rescue method according to an embodiment of the present application, and fig. 6 is a schematic diagram of a first queue. As shown in fig. 5 to 6, if the failure position is the overhead vertical rail 260 and the failure robot is located at the head of the queue 300, that is, the failure robot is the a transfer robot 310, a transfer instruction is transmitted to the first transfer robot (B robot 320) and the second transfer robot (C robot 330). Wherein, first transfer robot is located the rear of trouble robot and next to trouble robot, and the second transfer robot is located the rear of trouble robot and with trouble robot interval transfer robot.

In one embodiment, the queue 300 climbs up from the ground to the overhead vertical rail, i.e., the head of the queue 300 is located above and the tail of the queue 300 is located below. Since the malfunction robot (a robot 310) is located above the first transfer robot (B robot 320) and the second transfer robot (C robot 330), the malfunction robot (a robot 310) can be supported by upward thrust of the first transfer robot (B robot 320) and the second transfer robot (C robot 330) and pushed upward to continue traveling, and the malfunction robot (a robot 310) is prevented from falling until the malfunction robot (a robot 310) is pushed onto the overhead horizontal rail 250.

In one embodiment, the queue 300 climbs down from the overhead vertical rail to the ground, i.e., the head of the queue 300 is located below and the tail of the queue 300 is located above. Since the faulty robot (a robot 310) is located below the first transfer robot (B robot 320) and the second transfer robot (C robot 330), the first transfer robot (B robot 320) and the faulty robot (a robot 310) need to be connected, and the second transfer robot (C robot 330) and the first transfer robot (B robot 320) are connected, the faulty robot (a robot 310) walks downward under the combined action of the self gravity and the upward tension of the first transfer robot (B robot 320) and the second transfer robot (C robot 330), until the faulty robot (a robot 310) walks to the ground.

In the connection between the two robots, a mechanical connection may be used. The mode of using the mechanical structure is specifically as follows: and the head part and the tail part of each transfer robot are provided with an active connecting device and a passive connecting device. When the faulty robot (a robot 310) is located below the first transfer robot (B robot 320), the first transfer robot (B robot 320) controls its own active connection means to connect with passive connection means on the faulty robot (a robot 310). For example: the active connecting device is a hanger with a driving structure, the passive connecting device is a hanger, and when the robot is in need of rescue fault, the driving structure is controlled to enable the hanger to extend out and be connected with the hanger.

FIG. 7 is a second queue schematic. As shown in fig. 7, if the failure position is the overhead vertical rail 260 and the failure robot is located at the tail of the queue 300, that is, the failure robot is the G robot 370, a transfer instruction is sent to the third transfer robot (F robot 360) and the fourth transfer robot (E robot 350). Wherein the third transfer robot (F robot 360) is located in front of and immediately adjacent to the failed robot (G robot 370), and the fourth transfer robot (E robot 350) is located in front of and one transfer robot apart from the failed robot.

In one embodiment, the queue 300 climbs from the ground to the overhead vertical rail, i.e., the head of the queue 300 is located above and the tail of the queue 300 is located below. Since the fault robot (G robot 370) is located below the third transfer robot (F robot 360) and the fourth transfer robot (E robot 350), the third transfer robot (F robot 360) and the fault robot (G robot 370) need to be connected, and the fourth transfer robot (E robot 350) and the third transfer robot (F robot 360) are connected, the fault robot (G robot 370) walks downward under the combined action of the self gravity and the upward pulling force of the third transfer robot (F robot 360) and the fourth transfer robot (E robot 350), until the fault robot (G robot 370) walks to the ground.

In one embodiment, the queue 300 climbs down from the overhead vertical rail to the ground, i.e., the head of the queue 300 is located below and the tail of the queue 300 is located above. Since the malfunction robot (G robot 370) is located above the third transfer robot (F robot 360) and the fourth transfer robot (E robot 350), it is possible to support the malfunction robot (G robot 370) by upward thrust of the third transfer robot (F robot 360) and the fourth transfer robot (E robot 350) and to prevent the malfunction robot (G robot 370) from falling down until the malfunction robot (G robot 370) travels to the ground.

Fig. 8 is a third queue schematic. As shown in fig. 8, if the failure position is the overhead vertical rail 260 and the failure robot is located at the non-head and non-tail of the queue, for example, the C robot 330, a transfer instruction is sent to the first transfer robot (B robot 320) and the third transfer robot (D robot 340).

In one embodiment, if the first transfer robot (B robot 320) is located above the failed robot (C robot 330), the third transfer robot (D robot 340) is located below the failed robot (C robot 330), and the first transfer robot (B robot 320) is controlled to be connected with the failed robot (C robot 330), and the third transfer robot (D robot 340) supports the failed robot using an upward thrust, so that the failed robot (C robot 330) is clamped from two directions by the first transfer robot (B robot 320) and the third transfer robot (D robot 340) to move downward until walking to the ground, so as to ensure safety during a moving process.

It is worth to say that when the robot breaks down in the ground tunnel, the ground tunnel is a single-way road, so that the vehicle needs to be moved, or the vehicle is blocked, and the passing of other robots is affected. The following describes how to rescue when the ground tunnel fails in combination with the load state of the fault robot.

The rescue mode when the fault robot is in the bearing state is described first. Fig. 9 is a schematic diagram illustrating a second working condition of the fault rescue method according to an embodiment of the present application. Fig. 10 is a fourth queue diagram. Referring to fig. 9 and 10, if the fault location is the floor tunnel 230 and the fault robot is located at the head of the queue 300, that is, the fault robot is the a robot 310 and the fault robot is in a load-bearing state, a transfer instruction is transmitted to the first transfer robot (B robot 320) and the second transfer robot (C robot 330).

After receiving the moving instruction, the first transfer robot (B robot 320) and the second transfer robot (C robot 330) continue to travel in the original traveling direction until the faulty robot (a robot) is moved out of the ground tunnel.

Fig. 11 is a fifth queue diagram, referring to fig. 11, if the fault location is the floor tunnel 230 and the fault robot is located at the tail of the queue 300, that is, the fault robot is the G robot 370 and the fault robot is in a load-bearing state, a transfer instruction is sent to the third transfer robot (F robot 360) and the fourth transfer robot (E robot 350).

After receiving the moving command, the third transfer robot (F robot 360) and the fourth transfer robot (E robot 350) travel in opposite directions, that is, in different directions from the original traveling directions, so as to remove the fault robot (G robot 370) located at the tail of the team from the ground roadway.

Fig. 12 is a sixth queue diagram, and referring to fig. 12, if the fault location is the floor tunnel 230 and the fault robot is located at the non-head and non-tail of the queue, for example, the C robot 330, a transfer instruction is sent to the first transfer robot (B robot 320) and the third transfer robot (D robot 340).

In the first embodiment, after the first transfer robot (B robot 320) and the third transfer robot (D robot 340) receive the transfer instruction, the original traveling direction is continued to travel in the ground roadway 230, the first transfer robot (B robot 320) is connected with the fault robot (C robot 330), the fault robot (C robot 330) is pulled in front by the first transfer robot (B robot 320) and pushed in rear by the third transfer robot (D robot 340), and the fault robot is moved out of the ground roadway 230.

In the second embodiment, after the first transfer robot (B robot 320) and the third transfer robot (D robot 340) receive the transfer instruction, they travel in the ground lane 230 in the opposite direction, and the third transfer robot (D robot 340) is connected to the fault robot (C robot 330), pulled in front by the third transfer robot (D robot 340) and pushed in rear by the first transfer robot (B robot 320), and the fault robot is moved out of the ground lane 230.

In either of the two embodiments described above, the particular manner is based on the position of the failed robot (C robot 330) in the queue 300. The failed robot (C robot 330) is located in the first half of the queue 300 and is then rescuing in the manner described in the first embodiment. The failed robot (C robot 330) is located in the second half of the queue 300 and is then rescuing in the manner described in the second embodiment.

The following describes a rescue mode when the fault robot is in an empty state. When the fault robot is in an empty state, the number of carrying robots for rescue can be reduced in order to better ensure the cargo carrying efficiency of the robot due to the fact that the weight of the robot in the empty state is smaller. For example, the rescue may be performed by one transfer robot located in front of the faulty robot, and the rescue may be performed by one transfer robot located behind the faulty robot.

In addition, on the basis of the embodiment, in order to monitor and better schedule the rescue result of the fault robot, the scheduling device may further continuously obtain a rescue result message after sending a rescue instruction to the transfer robot, and send a car moving instruction to the rescue robot when the rescue result message indicates that rescue fails and the fault position is an air parallel track. Because aerial parallel track does not communicate the pause district, inconvenient car moving to also do not have the danger of dropping and influence the current obstacle of other robots, consequently, in order to guarantee the cargo handling efficiency of robot better, can send the car moving instruction to rescue robot this moment, in order to move this trouble robot through the rescue robot outside the queue.

In addition, on the basis of the embodiment, the scheduling device acquires the walking path of the queue and the position of the pause area when the rescue result information of the fault robot is rescue failure and the fault position is a ground trunk. Thereby determining whether the queue passes through the pause region based on the travel path and the location of the pause region. If the vehicle passes, a vehicle moving instruction is sent to at least one carrying robot positioned near the fault robot; if the vehicle does not pass through, a vehicle moving instruction is sent to the rescue robot.

The pause area can be any area on the ground where the fault robot can be stored, can be a reserved area, and can be any area which does not influence traffic.

In connection with the load state of the faulty robot, it is explained how the faulty robot is rescued by the handling robot in the queue when the queue passes through the suspension area. Fig. 13 is a schematic diagram illustrating a third working condition of the fault rescue method according to an embodiment of the present application. Fig. 14 is a fourth working condition schematic diagram of a fault rescue method according to an embodiment of the present application. Referring to fig. 10, 13 and 14, if the fault location is a ground trunk, the ground trunk includes a vertical trunk 210 and a horizontal trunk 220. And the failed robot is located at the head of the queue 300, i.e., the failed robot is the a robot 310, and when the failed robot is in a loaded state, a move command is sent to the first transfer robot (the B robot 320) and the second transfer robot C robot 330). After the first transfer robot (B robot 320) and the second transfer robot C robot 330 receive the transfer instruction, the first transfer robot continues to travel forward, and the faulty vehicle is moved to the suspension area when traveling to the suspension area.

Referring to fig. 11, if the fault location is the ground artery and the fault robot is located at the tail of the queue 300, that is, the fault robot is the G robot 370, and the fault robot is in a loaded state, a transfer instruction is transmitted to the third transfer robot (F robot 360) and the fourth transfer robot (E robot 350). After the third transfer robot (F robot 360) and the fourth transfer robot (E robot 350) receive the transfer instruction, they continue to travel forward, and when traveling to the pause area, the faulty vehicle is moved to the pause area.

Referring to fig. 12, if the failure location is a ground artery and the failure robots are located at the non-head and non-tail of the queue, for example, the C robot 330, a transfer instruction is transmitted to the first transfer robot (B robot 320) and the third transfer robot (D robot 340).

After the first transfer robot (B robot 320) and the third transfer robot (D robot 340) receive the transfer instruction, the original traveling direction is continued to travel along the original path, the first transfer robot (B robot 320) is connected to the failure robot (C robot 330), the failure robot (C robot 330) is pulled forward by the first transfer robot (B robot 320) and pushed backward by the third transfer robot (D robot 340) until traveling to the pause area, and the failure robot (C robot 330) is moved to the pause area.

When the fault robot is in an empty state, the number of carrying robots for rescue can be reduced in order to better ensure the cargo carrying efficiency of the robot due to the fact that the weight of the robot in the empty state is smaller. For example, the rescue may be performed by one transfer robot located in front of the faulty robot, and the rescue may be performed by one transfer robot located behind the faulty robot.

In another case, fig. 15 is a seventh queue diagram. As shown in fig. 15, after acquiring the rescue result message, if it is determined that the rescue result message indicates that rescue fails, the scheduling device acquires the position and the identifier of the transfer robot located at the tail of the queue, that is, the position and the identifier of the G robot 370, and generates a new instruction according to the position and the identifier of the transfer robot located at the tail of the queue. Further, a new instruction is transmitted to the H robot 380 in the idle state, thereby causing the H robot 380 to join the queue 300.

In yet another possible embodiment, the reorganization queue may also be performed after rescue of the malfunctioning robot with the handling robot. Specifically, the scheduling device may send a queue change instruction to the handling robot to instruct to reorganize the queue.

Fig. 16 is a schematic diagram of an eighth queue. As shown in fig. 16, when the faulty robot is located at the head of the queue 300, that is, the faulty robot is the a robot 310, after the B robot 320 performs rescue on the a robot 310, the scheduling device sends a competing head command to the B robot 320 so that the B robot 320 continues to work with the queue as a head.

In another case, fig. 17 is a ninth queue diagram. As shown in fig. 17, if the faulty robot is located at the tail of the queue 300, that is, if the faulty robot is the G robot 370, the F robot 360 performs rescue on the faulty robot, and transmits a number change instruction to the former head robot, that is, the a robot 310.

In another case, fig. 18 is a tenth queue schematic. As shown in fig. 18, if the fault location is an air horizontal track, an air vertical track, or a ground trunk, and the fault robot is located at the non-head of the queue, and at the non-tail of the queue, that is, the fault robot is the B robot 320, the C robot 330 is rescuing it, and a command to switch the following object is sent to the C robot 330 so that the C robot 330 follows the a robot 310, and a command to change the number is sent to the a robot 310.

In another case, fig. 19 is an eleventh queue schematic. As shown in fig. 19, if the fault location is a ground tunnel and the fault robot is located at the non-head and non-tail of the queue, that is, the fault robot is the C robot 330, the D robot 340 performs rescue, the G robot 370 is sent a competing head command, the E robot 350 and the F robot 360 are sent a switching following target command, and the G robot 370 is led to the E robot 350 and the F robot 360 to reorganize the queue. And transmits a quantity change instruction to the a robot 310, and the a robot 310 continues to carry the B robot 320 to operate. Because the fault position is the ground tunnel, two robots can not pass through side by side at the same time. Therefore, the robot a 310 can continuously take the robot B320 to leave the ground tunnel in the original direction, while the robot G370 takes the queue of the robot E350 and the robot F360 to leave the ground tunnel in the other direction, so that congestion in the ground tunnel is avoided, and the working efficiency of the robot can be improved.

Fig. 20 is a schematic structural diagram of a scheduling apparatus according to an embodiment of the present application. As shown in fig. 20, the present embodiment provides a scheduling apparatus including:

An obtaining module 501, configured to obtain fault information of a fault robot and an identifier of a handling robot adjacent to the fault robot, where the fault information includes the identifier of the fault robot, a position in a queue, a current working condition, and a fault position; the queue comprises a plurality of transfer robots and fault robots;

the processing module 502 is configured to generate a rescue instruction and a queue change instruction according to the fault information and the identifier of the transfer robot if the current working condition is a queue working condition;

The sending module 503 is configured to send a rescue instruction and a queue changing instruction to the transfer robot, so that the transfer robot can rescue the fault robot according to the rescue instruction, and reorganize the queue according to the queue changing instruction.

Optionally, the processing module 502 is specifically configured to:

Optionally, the processing module 502 is further configured to send a vehicle moving instruction to at least one transfer robot located near the faulty robot when the rescue result message of the faulty robot indicates that rescue fails and the faulty position is an overhead vertical track or a ground roadway.

Optionally, the sending module 503 is specifically configured to:

Or alternatively

Optionally, the sending module 503 is specifically configured to:

Optionally, the sending module 503 is further configured to send a car moving instruction to the rescue robot when the rescue result message of the failed robot indicates that rescue fails and the failure position is an air parallel track.

Optionally, the obtaining module 501 is further configured to indicate that rescue fails when the rescue result message of the failed robot indicates that the rescue fails, and obtain a traveling path of the queue and a position of the pause area when the failure position is a ground trunk;

The processing module 502 is further configured to determine whether the queue passes through the pause area according to the walking path and the position of the pause area;

a sending module 504, configured to send a move instruction to at least one transfer robot located near the faulty robot; or sending a car moving instruction to the rescue robot.

Optionally, the sending module 503 is specifically configured to:

If the fault position is a ground tunnel, the fault robot is positioned at the non-head part and the non-tail part of the queue, the sixth transfer robot positioned at the tail part of the queue sends a competition head command, the transfer robot positioned between the sixth transfer robot and the first transfer robot sends a switching following object command, and the transfer robot sends a quantity changing command to the fifth transfer robot.

The specific working principle and effect of the scheduling device provided in this embodiment may be referred to the foregoing embodiments, and will not be described herein.

Fig. 21 is a schematic structural diagram of a transfer robot according to an embodiment of the present application. As shown in fig. 21, the present embodiment provides a transfer robot including:

a receiving module 601, configured to receive a rescue instruction and a queue change instruction sent by a scheduling device; the rescue instruction is generated according to a first identifier of the fault robot and a second identifier of a carrying robot adjacent to the fault robot when the current working condition is a queuing working condition, and the queue change instruction is generated according to a fault position, a position in a queue and the second identifier when the current working condition is a queuing working condition, wherein the fault information of the fault robot comprises the first identifier, the position in the queue, the current working condition and the fault position;

the processing module 602 is configured to rescue the fault robot according to the rescue instruction, and reorganize the queue according to the queue change instruction; wherein the queue comprises a malfunctioning robot and at least one handling robot.

Optionally, the processing module 602 is specifically configured to:

Optionally, the receiving module 601 is further configured to receive a move command sent by the scheduling device, and move the fault robot according to the move command;

Optionally, the receiving module 601 is further configured to receive a vehicle moving instruction sent by the scheduling device, and control the handling robot to move the fault robot according to the vehicle moving instruction;

Optionally, if the fault robot is located at the head of the queue, the first handling robot receives a competing headstock instruction sent by the dispatching device;

If the fault position is an air horizontal track, an air vertical track or a ground main road, and the fault robot is positioned at the non-head part of the queue and the non-tail part of the queue, the third transfer robot receives a switching following object instruction sent by the dispatching equipment, and the fifth transfer robot receives a quantity changing instruction sent by the dispatching equipment;

The specific working principle and effect of the transfer robot provided in this embodiment can be referred to the foregoing embodiments, and will not be described herein.

Fig. 22 is a schematic structural diagram of a scheduling apparatus according to an embodiment of the present application. As shown in fig. 22, the scheduling apparatus of the present embodiment may include:

At least one processor 701; and

A memory 702 communicatively coupled to the at least one processor;

The memory 702 stores instructions executable by the at least one processor 701 to cause the robot to perform a robot-based method as in any of the embodiments described above.

Alternatively, the memory 702 may be separate or integrated with the processor 701.

The implementation principle and technical effects of the scheduling device provided in this embodiment may be referred to the foregoing embodiments, and will not be described herein again.

Fig. 23 is a schematic structural diagram of a transfer robot according to an embodiment of the present application. As shown in fig. 23, the transfer robot of the present embodiment may include:

At least one processor 801; and

A memory 802 communicatively coupled to the at least one processor;

The memory 802 stores therein instructions executable by the at least one processor 801, the instructions being executable by the at least one processor 801 to cause the robot to perform a robot-based method as in any of the embodiments described above.

Alternatively, the memory 802 may be separate or integrated with the processor 801.

Further, the present application also provides a robot system including a dispatch device as shown in fig. 22, a transfer robot as shown in fig. 23, and a rescue robot.

Embodiments of the present disclosure also provide a computer-readable storage medium having stored therein computer-executable instructions that, when executed by a processor, implement the steps in the methods described above.

The present embodiment also provides a program product comprising a computer program stored in a readable storage medium. The computer program may be read from a readable storage medium by at least one processor of an electronic device, the at least one processor executing the computer program to cause the electronic device to perform the steps of the method described above.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A fault rescue method, wherein the method is applied to a scheduling device, the method comprising:

Acquiring fault information of a fault robot and an identification of a transfer robot adjacent to the fault robot, wherein the fault information comprises the identification of the fault robot, a position in a queue, a current working condition and a fault position; the queue comprises a plurality of transfer robots and the fault robot;

the rescue instruction and the queue change instruction are sent to the carrying robot, so that the carrying robot can rescue the fault robot according to the rescue instruction, and the queue is reorganized according to the queue change instruction;

the step of sending the queue change instruction to the transfer robot specifically includes:

If the fault robot is positioned at the head of the queue, a competition head command is sent to a first transfer robot, wherein the first transfer robot is positioned behind the fault robot and is close to the fault robot;

If the fault position is an air horizontal track, an air vertical track or a ground trunk, the fault robot is positioned at the non-head part of the queue and at the non-tail part of the queue, a switching following object instruction is sent to the first carrying robot, and a quantity changing instruction is sent to the fifth carrying robot;

if the fault position is a ground tunnel, the fault robot is positioned at the non-head part and the non-tail part of the queue, the sixth transfer robot positioned at the tail part of the queue sends a competition head command, the transfer robot positioned between the sixth transfer robot and the first transfer robot sends a switching following object command, and the fifth transfer robot sends a quantity changing command.

2. The method according to claim 1, characterized in that generating rescue instructions from the fault information and the identity of the transfer robot, in particular comprises:

3. The method according to claim 2, wherein after sending the rescue instructions to the transfer robot, the method further comprises:

And if the rescue result message of the fault robot indicates that rescue fails, and the fault position is an overhead vertical track or a ground roadway, sending a vehicle moving instruction to at least one carrying robot near the fault robot.

4. A method according to claim 3, characterized in that the sending of a move instruction to at least one transfer robot located in the vicinity of the malfunctioning robot, in particular comprises:

If the fault position is an overhead vertical track and the fault robot is positioned at the head of the queue, sending the vehicle moving instruction to a first carrying robot and a second carrying robot;

Wherein the first transfer robot is positioned behind and next to the fault robot, and the second transfer robot is positioned behind and spaced from the fault robot by one transfer robot;

Or alternatively

If the fault position is an air vertical track and the fault robot is positioned at the tail part of the queue, sending the vehicle moving instruction to a third carrying robot and a fourth carrying robot;

Wherein the third transfer robot is located in front of and immediately adjacent to the failed robot, and the fourth transfer robot is located in front of and spaced apart from the failed robot by one transfer robot;

Or alternatively

And if the fault position is an aerial vertical track and the fault robots are positioned at the non-head part and the non-tail part of the queue, sending the vehicle moving instruction to the first transfer robot and the third transfer robot.

5. A method according to claim 3, characterized in that the sending of a move instruction to at least one transfer robot located in the vicinity of the malfunctioning robot, in particular comprises:

If the fault position is a ground tunnel, and the fault robot is in a load state and is positioned at the head of the queue, sending the vehicle moving instruction to a first carrying robot and a second carrying robot, wherein the first carrying robot is positioned behind the fault robot and is close to the fault robot, and the second carrying robot is positioned behind the fault robot and is separated from the fault robot by one carrying robot;

If the fault position is a ground tunnel, and the fault robot is in a load state and is positioned at the tail of a queue, sending the vehicle moving instruction to a third carrying robot and a fourth carrying robot, wherein the third carrying robot is positioned in front of the fault robot and is close to the fault robot, and the fourth carrying robot is positioned in front of the fault robot and is used for spacing one carrying robot of the fault robot;

If the fault position is a ground tunnel, and the fault robot is in a load state and is positioned at the non-head part and the non-tail part of the queue, sending the vehicle moving instruction to the first carrying robot and the third carrying robot;

And if the fault position is a ground tunnel and the fault robot is in an empty state, sending the vehicle moving instruction to the first transfer robot or the third transfer robot.

6. The method according to claim 2, wherein the method further comprises:

And if the rescue result message of the fault robot indicates that rescue fails and the fault position is an aerial horizontal track, sending a car moving instruction to the rescue robot.

7. The method according to claim 2, wherein the method further comprises:

if the rescue result message of the fault robot indicates that rescue fails, acquiring the walking path of the queue and the position of a pause area when the fault position is a ground trunk;

Determining whether the queue passes through the pause area according to the robot walking path and the position of the pause area;

If yes, sending a vehicle moving instruction to at least one transfer robot positioned near the fault robot; if not, the car moving instruction is sent to the rescue robot.

8. The method according to claim 7, characterized in that sending a move instruction to at least one transfer robot located in the vicinity of the malfunctioning robot, in particular comprises:

If the fault position is a ground trunk and the fault robot is in a load state and is positioned at the head of the queue, sending the vehicle moving instruction to a first carrying robot and a second carrying robot, wherein the first carrying robot is positioned behind the fault robot and is close to the fault robot, and the second carrying robot is positioned behind the fault robot and is separated from the fault robot by one carrying robot;

if the fault position is a ground trunk and the fault robot is in a load state and is positioned at the tail of a queue, sending the vehicle moving instruction to a third carrying robot and a fourth carrying robot, wherein the third carrying robot is positioned in front of the fault robot and is close to the fault robot, and the fourth carrying robot is positioned in front of the fault robot and is used for spacing one carrying robot of the fault robot;

If the fault position is a ground trunk and the fault robot is in a load state and is positioned at the non-head part and the non-tail part of the queue, sending the vehicle moving instruction to the first carrying robot and the third carrying robot;

And if the fault position is a ground trunk and the fault robot is in an empty state, sending the vehicle moving instruction to the first transfer robot or the third transfer robot.

9. A fault rescue method, wherein the method is applied to a transfer robot, the method comprising:

Receiving a rescue instruction and a queue change instruction sent by scheduling equipment; the rescue instruction and the queue change instruction are generated according to the fault information of the fault robot and the identification of the transfer robot adjacent to the fault robot when the current working condition is a queuing working condition; the fault information of the fault robot comprises the identification of the fault robot, the position in a queue, the current working condition and the fault position;

Rescue the fault robot according to the rescue instruction, and reorganizing a queue according to the queue change instruction; wherein the queue comprises a fault robot and at least one handling robot;

Receiving a queue change instruction sent by a scheduling device, which specifically comprises:

if the fault robot is positioned at the head of the queue, the first transfer robot receives a competition headstock instruction sent by the dispatching equipment, wherein the first transfer robot is positioned behind the fault robot and is close to the fault robot;

If the fault robot is positioned at the tail part of the queue, a fifth transfer robot positioned at the head part of the queue receives the quantity change instruction sent by the dispatching equipment;

If the fault position is an air horizontal track, an air vertical track or a ground main road, the fault robot is positioned at the non-head part of the queue and the non-tail part of the queue, a third carrying robot receives a switching following object instruction sent by the dispatching equipment, and a fifth carrying robot receives a quantity changing instruction sent by the dispatching equipment, wherein the third carrying robot is positioned in front of the fault robot and is close to the fault robot;

If the fault position is a ground tunnel, the fault robot is located at the non-head part and the non-tail part of the queue, a sixth transfer robot located at the tail part of the queue receives the competition headstock instruction sent by the dispatching equipment, a transfer robot located between the first transfer robot and the sixth transfer robot receives the switching following object instruction sent by the dispatching equipment, and a fifth transfer robot receives the quantity changing instruction sent by the dispatching equipment.

10. The method according to claim 9, characterized in that rescue the malfunctioning robot according to the rescue order, in particular comprises:

Generating a control instruction for triggering a reset button on the fault robot;

The rescue instructions comprise reset instructions, and the reset instructions are generated according to the fault information and the identification of the fault robot.

11. The method according to claim 10, wherein the method further comprises:

receiving a car moving instruction sent by the dispatching equipment, and moving the fault robot according to the car moving instruction;

The vehicle moving instruction is generated when a rescue result message of the fault robot indicates rescue failure, the fault position is an air vertical track or a ground roadway, and the transfer robot is located near the fault robot and belongs to the queue.

12. The method according to claim 11, wherein:

If the fault position is an overhead vertical track and the fault robot is positioned at the head of the queue, the transfer robot comprises a first transfer robot positioned behind the fault robot and adjacent to the fault robot and a second transfer robot positioned behind the fault robot and spaced from the fault robot by one transfer robot;

If the fault position is an overhead vertical track and the fault robot is positioned at the tail of the queue, the transfer robot comprises a third transfer robot positioned in front of the fault robot and adjacent to the fault robot and a fourth transfer robot positioned in front of the fault robot and spaced from the fault robot by one transfer robot;

And if the fault position is an aerial vertical track, and the fault robot is positioned at the non-head part of the queue and is positioned at the non-tail part of the queue, the transfer robot comprises the first transfer robot and the third transfer robot.

13. The method according to claim 11, wherein:

if the fault position is a ground tunnel, the fault robot is in a load state and is positioned at the head of the queue, and the transfer robot comprises a first transfer robot and a second transfer robot, wherein the first transfer robot is positioned behind the fault robot and is close to the fault robot, and the second transfer robot is positioned behind the fault robot and is separated from the fault robot by one transfer robot;

If the fault position is a ground tunnel, the fault robot is in a load state, the fault robot is positioned at the tail of the queue, and the transfer robot comprises a third transfer robot and a fourth transfer robot, wherein the third transfer robot is positioned in front of the fault robot and is close to the fault robot, and the fourth transfer robot is positioned in front of the fault robot and is used for spacing one transfer robot of the fault robot;

if the fault position is a ground tunnel, the fault robot is in a load state, the fault robot is positioned at the non-head part of the queue and at the non-tail part of the queue, and the transfer robot comprises the first transfer robot and the third transfer robot;

and if the fault position is a ground tunnel, the fault robot is in an empty state, and the transfer robot comprises the first transfer robot or the third transfer robot.

14. The method according to claim 10, wherein the method further comprises:

Receiving a car moving instruction sent by the dispatching equipment, and controlling the carrying robot to move the fault robot according to the car moving instruction;

The vehicle moving instruction is generated when a rescue result message indicating that a rescue result fails is received, the fault position is a ground trunk, and the queue is determined to pass through a pause area.

15. The method according to claim 14, wherein:

If the fault position is a ground trunk, the fault robot is in a load state, the fault robot is positioned at the head of the queue, and the transfer robot comprises a first transfer robot and a second transfer robot, wherein the first transfer robot is positioned behind the fault robot and is close to the fault robot, and the second transfer robot is positioned behind the fault robot and is separated from the fault robot by one transfer robot;

If the fault position is a ground trunk, the fault robot is in a load state, the fault robot is positioned at the tail of the queue, and the transfer robot comprises a third transfer robot and a fourth transfer robot, wherein the third transfer robot is positioned in front of the fault robot and is close to the fault robot, and the fourth transfer robot is positioned in front of the fault robot and is used for spacing one transfer robot of the fault robot;

If the fault position is a ground trunk, the fault robot is in a load state, the fault robot is positioned at the non-head part of the queue and at the non-tail part of the queue, and the transfer robot comprises the first transfer robot and the third transfer robot;

And if the fault position is a ground trunk, the fault robot is in an empty state, and the transfer robot comprises the first transfer robot or the third transfer robot.

16. A scheduling apparatus, comprising: a memory, a processor;

The memory for storing instructions executable by the processor, which when executed by the processor are capable of performing the fault rescue method of any one of claims 1 to 8.

17. A transfer robot, comprising: a memory, a processor;

The memory for storing instructions executable by the processor, which when executed by the processor are capable of performing the fault rescue method of any one of claims 9 to 15.

18. A robot system comprising the scheduling apparatus of claim 16, the transfer robot of claim 17.